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Command/reference switching
Channels
A channel is the name given to the source of a command or reference.
The six Altivar 61 channels are:
• The terminals
• The graphic display terminal
• The integrated Modbus ports
• The integrated CANopen port
• A network card
• The "Controller Inside" card
The Altivar 61 has two integrated Modbus ports. These two ports are physically independent of one another but together constitute a single
logic channel.
The drive does not distinguish between commands and references that come from the Modbus network port and those that come from the
Modbus HMI port.
With the Altivar 61 drive, it is possible to select the active command channel and the active reference channel:
• Via configuration
• Via switching at the terminals or via a communication network
Channel commands and references
All the drive’s command and reference parameters are managed on a channel-by-channel basis.
Only the control word (CMd), speed reference (LFrd) and frequency reference (LFr) are switched.
It is possible to identify the last value written for each channel and each command or reference parameter:
Parameter name Parameter code
Taken into
account by the
drive
Modbus CANopen
Communication
card
Controller Inside
Control word CMd CMd1 CMd2 CMd3 CMd4
Extended control word CMI CMI1 CMI2 CMI3 CMI4
Speed reference (rpm) LFrd LFd1 LFd2 LFd3 LFd4
Frequency reference (0.1 Hz) LFr LFr1 LFr2 LFr3 LFr4
PID regulator reference PISP PIr1 PIr2 PIr3 PIr4
Analog multiplier reference MFr MFr1 MFr2 MFr3 MFr4